Intelligent identification and alarm system of hazardous gas inspection robot

Abstract

The invention discloses an intelligent identification and alarm system of a hazardous gas inspection robot, which relates to the technical field of hazardous gas identification and alarm and comprises a gas collection module, a gas analysis and identification module, an execution analysis module and a display alarm module. The method is used for solving the problems that an existing hazardous gas inspection robot recognition alarm system cannot ensure detection data guarantee of a hazardous gas inspection robot in the inspection task, the influence of the environment on hazardous gas recognition is not considered, and the hazardous gas content detection accuracy is low. The gas analysis and identification module analyzes self function data of the inspection robot, the execution and analysis module executes commands and analyzes the inspection robot, and the display and alarm module is used for receiving the commands and executing corresponding display and alarm operations. The inspection robot can efficiently and accurately execute inspection tasks, and powerful guarantee is provided for industrial safety.

Description

Technical Field

[0001] The present invention relates to the technical field of hazardous gas identification and alarm, and in particular to an intelligent identification and alarm system of a hazardous gas inspection robot. Background Art

[0002] Existing hazardous gas inspection robot identification and alarm system technologies primarily include infrared thermal imaging intelligent visual monitoring systems, visible light camera intelligent visual monitoring systems, and gas sensors. These technologies enable the robots to efficiently and accurately detect various hazardous gases, such as combustible gases, carbon monoxide, and hydrogen sulfide, and transmit detection data in real time to a centralized control center via a wireless transmission system. Upon detecting abnormal gas concentrations, the robots automatically trigger an alarm system, alerting personnel to take appropriate measures.

[0003] However, there are still some challenges and problems in practical applications. For example, existing hazardous gas inspection robots are unable to detect their own operating status, and thus cannot ensure the detection data security of hazardous gas inspection robots during inspection tasks; the impact of the environment on hazardous gas identification has not been considered, resulting in low accuracy in detecting hazardous gas content. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that the existing hazardous gas inspection robots do not have their own operating status for detection and cannot ensure the protection of detection data during inspection tasks. The existing hazardous gas inspection robots do not consider the impact of the environment on hazardous gas identification and have the problem of low accuracy in detecting hazardous gas content. An intelligent identification and alarm system for hazardous gas inspection robots is proposed.

[0005] The objectives of the present invention can be achieved through the following technical solutions: an intelligent identification and alarm system for a hazardous gas inspection robot, comprising a gas analysis and identification module and an execution analysis module; the gas analysis and identification module is used to analyze the inspection robot's own functional data to obtain a good operation signal, a charging command, a heat dissipation and cleaning command, and a maintenance command; it is also used to accurately identify and analyze the dangerous mixed gas categories in the air, and when a good operation signal is received, the dangerous mixed gas category and preliminary content are collected; the environmental impact data and physical environment data at the time of collection are analyzed, a linear regression model 1 is created according to the environmental impact data, and a linear regression model 2 is created according to the physical environment data, and an environmental impact value 1 and a physical impact value 2 are obtained based on the linear regression model 1 and the linear regression model 2, and the environmental impact value 1 and the physical impact value 2 are respectively matched with the corresponding influence range to obtain the corresponding preset influence coefficient, and the preset influence coefficients matched by the two are respectively multiplied by the corresponding weights and then summed and averaged to obtain the environmental impact coefficient, and finally the preliminary content values of methane, carbon dioxide and carbon monoxide are multiplied by the corresponding environmental impact coefficients to obtain the precise methane content value, the precise carbon dioxide content value and the precise carbon monoxide content value;

[0006] The execution analysis module is used to perform execution analysis on hazardous gas tracking commands.

[0007] Compared with the prior art, the present invention has the following beneficial effects:

[0008] 1. The present invention improves the autonomous management and maintenance capabilities of the inspection robot through the application of the gas analysis and identification module in the inspection robot; through real-time monitoring and analysis of the operating status data and system performance data of the inspection robot, potential problems are discovered in time and corresponding maintenance measures are taken; in terms of battery power, operating current and voltage, internal temperature control and software integrity check, the working status of the inspection robot is accurately judged to ensure that it operates under safe and stable conditions; maintenance commands are generated to provide strong support for the timely maintenance of the inspection robot; the working efficiency of the inspection robot is improved to provide reliable guarantee for the smooth progress of the inspection task.

[0009] 2. The present invention identifies dangerous mixed gases through a gas analysis and identification module, accurately identifies and analyzes dangerous gases such as methane, carbon dioxide and carbon monoxide in the air through multi-sensor fusion technology, and marks their preliminary content in real time; in-depth analysis of the environmental impact data during collection makes the test results closer to reality and improves the accuracy of the gas content value.

[0010] 3. This invention combines an execution analysis module with a positioning system to display the inspection robot's path and locate hazardous gases. It intelligently analyzes its direction of travel based on information such as air flow direction and wind speed, effectively tracking gas leaks. Furthermore, the display and alarm module executes corresponding display and alarm operations based on received commands, ensuring the inspection robot's continuous and stable operation. This enables the inspection robot to perform inspection tasks efficiently and accurately, providing a strong guarantee for industrial safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0012] Figure 1 This is a schematic diagram of module connection of the present invention;

[0013] Figure 2 It is the orientation demonstration assignment diagram of the present invention;

[0014] Figure 3 This is the hazardous gas content diagram of the present invention. DETAILED DESCRIPTION

[0015] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0016] It should be understood that the terms “include” and “comprising” used in the specification and claims of the present disclosure indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0017] It should also be understood that the terminology used in this disclosure is for the purpose of describing specific embodiments only and is not intended to limit the disclosure. As used in this disclosure and the claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should further be understood that the term "and / or" as used in this disclosure and the claims refers to any and all possible combinations of one or more of the associated listed items, including and including these combinations.

[0018] See also Figure 1 As shown, an intelligent identification and alarm system for a hazardous gas inspection robot includes a gas collection module, a gas analysis and identification module, an execution analysis module, and a display and alarm module.

[0019] The gas collection module obtains the categories of hazardous gases in the air, collects the functional data of the inspection robot itself, and collects environmental impact data; the hazardous gas categories in the air are collected through various types of sensor fusion technology, and the various types of sensors include electrochemical sensors, infrared sensors and semiconductor sensors, etc. The hazardous gas categories include methane, carbon dioxide and carbon monoxide concentrations in the air, etc.; the functional data of the inspection robot itself includes but is not limited to: operating status data, position data, path data and system performance data; environmental impact data includes meteorological data and physical environment data.

[0020] The gas analysis and identification module is used to analyze the functional data of the inspection robot itself and obtain functional data through the inspection robot's own functional detection program; including analysis of operating status data and system performance data. The operating status data includes but is not limited to battery power, internal temperature and driving speed; the system performance data includes but is not limited to processor status information, software status information and update and maintenance information.

[0021] The operating status of the inspection robot is analyzed as follows:

[0022] S001: Obtain the battery power through the inspection robot's own function detection program and mark it as D; compare the battery power with the preset normal working battery power range. If the battery power falls within the preset normal working battery power range, obtain the working current and voltage through the inspection robot's own function detection program for detection, and match the obtained working current and voltage with the preset normal working current and voltage range. If the obtained working current and voltage fall within the preset normal working current and voltage range, it is determined to be the normal working current and voltage, and then execute step S002; otherwise, generate maintenance command one; if the battery power does not fall within the preset normal working battery power range, it is determined to be in low current and low voltage state, and a charging command is generated.

[0023] S002: The internal temperature is obtained through the temperature sensing device in the inspection robot and marked as W1. The internal temperature is compared with the preset internal temperature range. If the internal temperature falls within the preset internal temperature range, step S003 is executed. If the internal temperature exceeds the preset internal temperature range by more than a certain value, the heat dissipation device of the inspection robot is tested, and the heat dissipation power of the heat dissipation device is obtained through the thermal installation detection program, and matched with the preset heat dissipation power range corresponding to the temperature in the inspection robot. If the heat dissipation power falls within the corresponding preset heat dissipation power range, the most recent heat dissipation cleaning interval T1 is obtained, and the heat dissipation cleaning interval T1 is compared with the preset heat dissipation cleaning interval time range. If the heat dissipation cleaning interval T1 falls within the preset heat dissipation cleaning interval time range, a heat dissipation cleaning command is generated; otherwise, a maintenance command 2 is generated.

[0024] S003: The processor status information and software status information are obtained and analyzed through the inspection robot detection program, and then the processor and software program are detected through the inspection robot self-test program to obtain the basic functional data of the processor, including voltage detection and temperature data. Among them, the processor power supply voltage is checked to see if it is within the normal range. If the voltage is within the normal range, the processor temperature is monitored by the sensor to ensure that it is within the safe working range. If the temperature is within the normal range, the software status information is detected; otherwise, a maintenance command is generated; the software status information is detected by using a hash algorithm (such as MD5, SHA-256) to check the integrity of key software files to ensure that they have not been tampered with or damaged; if the key software files have not been tampered with or damaged, a good operation signal is generated; otherwise, a maintenance command three is generated.

[0025] The gas analysis and identification module is also used to accurately identify and analyze the types of dangerous mixed gases in the air. When a good operating signal is received, the sensor using multi-sensor fusion technology collects the types and preliminary content of the dangerous mixed gases. If the collected dangerous gas type is methane, the preliminary methane content is marked as J1; if the collected dangerous gas type is carbon dioxide, the preliminary carbon dioxide content is marked as R1; if the collected dangerous gas type is carbon monoxide, the preliminary carbon monoxide content is marked as Y1;

[0026] The gas analysis and identification module is also used to analyze the environmental impact data and physical environment data during collection, and collects environmental impact data and physical environment data through environmental sensing integration acquisition equipment, wherein the environmental impact data includes environmental humidity, environmental temperature and environmental pressure; the physical environment data includes environmental noise level, environmental vibration frequency and the concentration of suspended particulate matter in the ambient air; they are marked separately, the numerical value of environmental humidity is marked as Hy1, the numerical value of ambient temperature is marked as Hy2, the numerical value of ambient pressure is marked as Hy3, the numerical value of ambient noise is marked as Fy1, the numerical value of ambient vibration frequency is marked as Fy2, and the numerical value of suspended particulate matter concentration in the ambient air is marked as Fy3; a linear regression model is created based on the environmental impact data, and the marked numerical values are substituted into the linear regression model to output the environmental impact value. , where the linear regression model 1 is: ; Where H1i and H2i are the thresholds 1 and 2 corresponding to the ambient humidity, ambient temperature and ambient pressure respectively; and H1i>H2i; if the ambient humidity threshold 1 is greater than the ambient humidity threshold 2, that is, H11>H12; ωij are the weight coefficients corresponding to the ambient humidity, ambient temperature and ambient pressure respectively, i=1, 2, 3; j=1 or 2, when Hyi>H1i, j=1; when Hyi<H2i, j=2; and ωi1>ωi2; f1 is the random error term, It is expressed as a disturbance term, with a fixed value of a constant, and its size is customized by the technician. The specific solution process of the disturbance term is as follows: by obtaining the historical maintenance time of each sensor of the multi-sensor fusion technology, the difference between each historical maintenance time and the current time is calculated to obtain the maintenance time of each sensor, and the average of all the maintenance time is calculated to obtain the average maintenance time, and the value of the average maintenance time is multiplied by the corresponding disturbance conversion coefficient to obtain the disturbance term ; The larger the value of the average maintenance time, the larger the value of the corresponding disturbance term.

[0027] Create a linear regression model 2 based on the physical environment data, substitute the physical environment data into the linear regression model 2 and output the physical impact value 2 , where the second linear regression model is: , ωg are the weight coefficients corresponding to the ambient noise, ambient vibration frequency and the concentration of suspended particulate matter in the ambient air, g=1, 2, 3, and f2 is the random error term.

[0028] It should be noted that the methods for determining the weight coefficients of the linear regression model include subjective assignment method, objective assignment method or customized settings by technical personnel in this field. In actual use, the appropriate weight determination method is selected according to the specific situation to ensure that the weights are objective and meet the requirements of the present invention.

[0029] The environmental impact coefficient is output based on the environmental impact value 1 and the physical impact value 2, specifically:

[0030] Set the environmental impact value 1 and the physical impact value 2 to correspond to several impact ranges, and each impact range corresponds to a preset impact coefficient; the value range of the preset impact coefficient is (0.8, 1.2); match the environmental impact value 1 and the physical impact value 2 with the corresponding impact range to obtain the corresponding preset impact coefficient, multiply the preset impact coefficients matched by the two by the corresponding weights, and then sum and average them to obtain the environmental impact coefficient β.

[0031] Substitute the collected preliminary values of methane, carbon dioxide and carbon monoxide into the formula Output the precise methane content value J, the precise carbon dioxide content value R, and the precise carbon monoxide content value Y; β1, β2, and β3 are the environmental impact coefficients corresponding to the content values of methane, carbon dioxide, and carbon monoxide, respectively.

[0032] The execution and analysis module is used to execute commands and analyze the inspection robot, specifically: obtaining the position data and path data of the inspection robot and obtaining the path data through the positioning system device carried by the inspection robot, and displaying it in the preset inspection scene environment to generate a path display command; when the inspection robot detects hazardous gas, it locates the inspection robot through the positioning system device, obtains the production composition and content of the hazardous gas, and generates a composition content display command; the inspection robot also obtains its position in the inspection field and the air flow direction in the inspection scene, and generates a hazardous gas tracking command.

[0033] The execution analysis module is used to perform execution analysis on hazardous gas tracking commands, specifically:

[0034] Step 1: Please refer to Figure 2 As shown, by obtaining the position in the inspection field and the air flow direction and wind speed in the inspection scene, the air flow direction is assigned according to the four directions of east, south, west and north and the angle of rotation. The north direction is used as the starting point or end point of a rotation and is assigned a value of 360f. The east direction is used as the corresponding point of 90 degrees in a clockwise rotation and is assigned a value of 90f. The south direction is used as the corresponding point of 180 degrees in a clockwise rotation and is assigned a value of 180f. The east direction is used as the corresponding point of 270 degrees in a clockwise rotation and is assigned a value of 270f. f is a positive integer, and so on. The value of the wind speed is marked as s. Output the direction coefficient, b1 and b2 are preset correction factors, b1 and b2 are customized by technical personnel in this field, Δu is the numerical value of the change in the average content of hazardous mixed gases obtained by the inspection robot; p=1, 2, 3, ..., 359, 360, and is the direction of travel for the inspection robot to obtain the change in the average content of hazardous mixed gases, match the direction coefficient with the preset direction execution interval, the preset direction execution interval is travel interval one and travel interval two, if the direction coefficient ZFX belongs to travel interval one, continue to travel in the direction of travel corresponding to the jf value; if the direction coefficient ZFX belongs to travel interval two, continue to travel in the opposite direction of travel corresponding to the jf value.

[0035] Step 2: Please refer to Figure 3As shown, the leakage point of the hazardous mixed gas is analyzed; first, the average content of the hazardous mixed gas at different time positions is obtained and recorded, and the recorded data is imported into a coordinate curve chart to obtain a hazardous gas content chart, and then the data in the chart is analyzed to obtain the time t of the average content of the hazardous mixed gas, and the time t is divided into several equal time intervals, and then the average value of the average content of the hazardous mixed gas in each equal time interval is calculated to obtain the average comparison value of each equal time interval, and then each average comparison value is compared one by one to obtain the maximum average comparison value; the corresponding equal time interval is obtained through the maximum average comparison value, and the average content of the hazardous mixed gas in the corresponding equal time interval is compared to obtain the maximum average content d, and the time is marked; the position information corresponding to the marked time is obtained; the position information is obtained by the positioning system device carried by the inspection robot, and a position display command is generated.

[0036] The display alarm module is used to receive commands and perform display and alarm operations; when a charging command is received, a low battery reminder display is performed, and the battery needs to be charged or replaced; when a maintenance command is received, it is divided into maintenance command one, maintenance command two and maintenance command three. If the maintenance command is maintenance command one, a battery abnormality alarm display is performed; if the maintenance command is maintenance command two, an equipment temperature abnormality alarm display is performed; if the maintenance command is maintenance command three, a processing software abnormality alarm display is performed, and maintenance is performed by relevant maintenance personnel; when a heat dissipation cleaning command is received, cleaning is performed by cleaning personnel; when a path display command is received, an inspection path is generated on the display device; when a position display command is received, a position mark is made on the generated inspection path; when a component content display command is received, an alarm is performed, and the content of the corresponding category of dangerous mixed gas marked is displayed by displaying marks one by one on the generated inspection path.

[0037] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An intelligent identification and alarm system for a hazardous gas inspection robot, comprising a gas analysis and identification module and an execution analysis module; characterized in that: The gas analysis and identification module is used to analyze the inspection robot's own functional data to obtain a good operation signal, charging command, heat dissipation and cleaning command, and maintenance command; it is also used to accurately identify and analyze the dangerous mixed gas categories in the air, and when a good operation signal is received, the dangerous mixed gas category and preliminary content are collected; the environmental impact data and physical environment data at the time of collection are analyzed, a linear regression model 1 is created according to the environmental impact data, and a linear regression model 2 is created according to the physical environment data, and an environmental impact value 1 and a physical impact value 2 are obtained based on the linear regression model 1 and the linear regression model 2, and the environmental impact value 1 and the physical impact value 2 are respectively matched with the corresponding influence range to obtain the corresponding preset influence coefficient, and the preset influence coefficients matched by the two are respectively multiplied by the corresponding weights and then summed and averaged to obtain the environmental impact coefficient, and finally the preliminary content values of methane, carbon dioxide and carbon monoxide are multiplied by the corresponding environmental impact coefficients to obtain the precise methane content value, the precise carbon dioxide content value and the precise carbon monoxide content value; The execution analysis module is used to perform execution analysis on hazardous gas tracking commands.

2. The intelligent identification and alarm system for a hazardous gas inspection robot according to claim 1 is characterized in that: The gas analysis and identification module analyzes the inspection robot's own functional data including: S001: Obtain the battery power through the inspection robot's own function detection program. If the battery power falls within the preset normal operating battery power range, obtain the operating current and voltage through the inspection robot's own function detection program, match the operating current and voltage with the preset normal operating current and voltage range. If the obtained operating current and voltage fall within the preset normal operating current and voltage range, it is determined to be normal operating current and voltage, then execute step S002; otherwise, generate maintenance command 1; if the battery power does not fall within the preset normal operating battery power range, it is determined to be in a low current and low voltage state, and generate a charging command; S002: The internal temperature is obtained through the temperature sensing device in the inspection robot, and the internal temperature is compared with the preset internal temperature range. If the internal temperature falls within the preset internal temperature range, step S003 is executed. If the internal temperature exceeds the preset internal temperature range by more than a certain value, the heat dissipation device of the inspection robot is tested, and the heat dissipation power of the heat dissipation device is obtained through the thermal installation detection program, and matched with the preset heat dissipation power range corresponding to the temperature in the inspection robot. If the heat dissipation power falls within the corresponding preset heat dissipation power range, the most recent heat dissipation cleaning interval is obtained, and the heat dissipation cleaning interval is compared with the preset heat dissipation cleaning interval time range. If the heat dissipation cleaning interval falls within the preset heat dissipation cleaning interval time range, a heat dissipation cleaning command is generated; otherwise, a maintenance command 2 is generated. S003: The processor status information and software status information are obtained through the inspection robot detection program for analysis, and then the processor and software program are detected through the inspection robot self-test program to obtain the basic functional data of the processor, including voltage detection and temperature data, to check whether the processor power supply voltage is within the normal range. If the voltage is within the normal range, the processor temperature is monitored by the sensor. If the temperature is within the normal range, the software status information is detected; otherwise, a maintenance command is generated; the software status information is detected by using a hash algorithm to check the integrity of key software files; if the key software files have not been tampered with or damaged, a good operation signal is generated; otherwise, a maintenance command three is generated.

3. The intelligent identification and alarm system for a hazardous gas inspection robot according to claim 2 is characterized in that: The specific process of the execution analysis module for executing and analyzing the hazardous gas tracking command is as follows: Obtain the location within the inspection field and the air flow direction and wind speed within the inspection scene, assign values to the air flow direction and wind speed, then calculate the direction coefficient and match the direction coefficient with the preset travel direction execution interval. The preset travel direction execution intervals are travel interval 1 and travel interval 2. If the direction coefficient belongs to travel interval 1, continue to travel in the direction corresponding to the air flow direction; if the direction coefficient belongs to travel interval 2, continue to travel in the opposite direction of the air flow direction. Analyze the leakage point of the hazardous mixed gas. First, obtain the average content of the hazardous mixed gas at different time positions and record it. Import the recorded data into a coordinate curve chart to obtain a hazardous gas content chart. Then, analyze the data in the chart to obtain the time of the average content of the hazardous mixed gas. Divide the time into several equal time intervals. Then, calculate the average value of the average content of the hazardous mixed gas in each equal time interval to obtain the average comparison value of each equal time interval. Then, compare each average comparison value one by one to obtain the maximum average comparison value. Obtain the corresponding equal time interval through the maximum average comparison value, and compare the average content of the hazardous mixed gas in the corresponding equal time interval to obtain the maximum average content, and mark the time. Obtain the position information corresponding to the marked time. The location information is obtained through the positioning system device carried by the inspection robot to generate a location display command.

4. The intelligent identification and alarm system for hazardous gas inspection robots according to claim 3 is characterized in that: It also includes a display alarm module, which is used to receive commands and perform display and alarm operations; specifically: When receiving a charging command, a low battery reminder display is displayed, and the battery needs to be charged or replaced; When a maintenance command is received, if the maintenance command is maintenance command one, a battery abnormality alarm will be displayed; if the maintenance command is maintenance command two, a device temperature abnormality alarm will be displayed; if the maintenance command is maintenance command three, a processing software abnormality alarm will be displayed, and maintenance will be carried out by relevant maintenance personnel; When receiving a heat dissipation cleaning command, notify the cleaning staff to clean; When a path display command is received, an inspection path is generated on the display device; When receiving the position display command, the position is marked on the generated inspection path; When a command to display the component content is received, an alarm is issued, and the content of the corresponding category of the dangerous mixed gas is displayed by marking them one by one on the generated inspection path.

5. The intelligent identification and alarm system for hazardous gas inspection robots according to claim 4 is characterized in that: It also includes a gas collection module, which is used to obtain the types of dangerous gases in the air, collect the inspection robot's own functional data, and collect environmental impact data.

6. The intelligent identification and alarm system for hazardous gas inspection robots according to claim 1 is characterized in that: The linear regression model 1 is: ;in is the environmental impact value 1; H1i and H2i are the threshold 1 and threshold 2 corresponding to the ambient humidity, ambient temperature and ambient pressure respectively; and H1i>H2i; ωij are the weight coefficients corresponding to the ambient humidity, ambient temperature and ambient pressure respectively, i=1, 2, 3; j=1 or 2, when Hyi>H1i, j=1; when Hyi<H2i, j=2; and ωi1>ωi2; f1 is the random error term, is represented as a disturbance term.

7. The intelligent identification and alarm system for hazardous gas inspection robots according to claim 6 is characterized in that: The specific solution process of the disturbance term is as follows: by obtaining the historical maintenance time of each sensor of the multi-sensor fusion technology, the difference between each historical maintenance time and the current time is calculated to obtain the maintenance time of each sensor, and the average of all the maintenance time is calculated to obtain the average maintenance time, and the value of the average maintenance time is multiplied by the corresponding disturbance conversion coefficient to obtain the disturbance term.

8. The intelligent identification and alarm system for hazardous gas inspection robots according to claim 6 is characterized in that: The second linear regression model is: , is the second physical impact value; ωg are the weight coefficients corresponding to the ambient noise, ambient vibration frequency and the concentration of suspended particulate matter in the ambient air, g=1, 2, 3, and f2 is the random error term.

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